Subject:
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Re: multiplexed touch sensors [was: Re ideas for a RIS 2.0]
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Newsgroups:
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lugnet.robotics
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Date:
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Fri, 27 Aug 1999 15:21:30 GMT
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Original-From:
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Brian B. Alano <alano@kiva.net*ihatespam*>
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Viewed:
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990 times
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Some corrections to my last post:
"Brian B. Alano" wrote:
> In lugnet.robotics, Kekoa Proudfoot writes:
> > I don't doubt that there are reasonable creations that e.g. press a touch
> > sensor button halfway for extended periods of time, but I can't think of
> > any off the top of my head. Can anybody help me out here? • (snip)
> > -Kekoa
>
> I managed to use this touch sensor "feature" as sort of a poor man's bend
> sensor to improve my wall-following robot. It's a torbot-type design with a
> left and right feeler-type bumpers in front.
> Using NQC (thanks, Dave) I set the sensor type to SWITCH and the mode to RAW.
> After some experimentation, any raw value greater than 1000 I called an open
> switch, and any value less than 100 I called a fully closed switch. By turning
> right when the value was less than 100, going straight between 100 and 1000 and
> turning right when greater than 1000, the robot kept its left feeler against
should be: turning LEFT when greater than 1000, the robot kept its left feeler
against
>
> the wall. Displaying the sensor value while the robot was running showed it
> spent most of the time between 101 and 110. (Once against the wall, I never saw
should be: spent most of the time between 101 and 110. (Once TRACKING the wall, I
never *saw*
>
> it dip below 100, but it did noticably veer right every so often.)
>
> The NQC code for following the wall is something like this (I don't have the
> code or NQC with me to test this):
>
> // IN_1 is the left feeler/bumper.
> // OUT_A is the left motor, OUT_C is the right motor
> SensorType(IN_1, SWITCH);
> SensorMode(IN_1, RAW);
> Display(1);
> while true {
> if (IN_1 < 100) {
> Fwd(OUT_A, 8);
> Float(OUT_C);
> } else {
> if (IN_1 > 1000) {
> Float(OUT_A, 8);
should be: Float(OUT_A);
>
> Fwd(OUT_C, 8);
> } else {
> Fwd(OUT_A, 8);
> Fwd(OUT_C, 8);
> }
> }
> }
>
> This code works well when the 'bot starts out against the wall. I'm still
> working on the next part--having it acquire the wall in the first place. It
> either plows into it or bounces off it on initial contact. Any suggestions?
> --
> Did you check the web site first?: http://www.crynwr.com/lego-robotics
--
Did you check the web site first?: http://www.crynwr.com/lego-robotics
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